Tips for implementing an existing codebase in Gazebo?

Hi guys, I understand this is a general question I am just looking for direction while also not violating an NDA. As the title states, how should I go about implementing an existing codebase for a robot into Gazebo?

1 Answer

Interfacing with Gazebo can be done through C++ plugins or through the Gazebo transport system. I believe in your case you'll want to implement some model / world plugin which connects to the rest of your codebase. Read about plugins here.